UAV_Logger1から改造。サーボ機構のプログラムを追加
Dependencies: MPU6050_alter HMC5883L
Matrix/Matrix.h@3:3fa7882a5fd0, 2019-07-24 (annotated)
- Committer:
- Joeatsumi
- Date:
- Wed Jul 24 12:00:01 2019 +0000
- Revision:
- 3:3fa7882a5fd0
- Parent:
- 2:e6496a794bde
AlteredUAV_Logger1;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Joeatsumi | 2:e6496a794bde | 1 | #pragma once |
Joeatsumi | 2:e6496a794bde | 2 | #include "mbed.h" |
Joeatsumi | 2:e6496a794bde | 3 | |
Joeatsumi | 2:e6496a794bde | 4 | class Matrix |
Joeatsumi | 2:e6496a794bde | 5 | { |
Joeatsumi | 2:e6496a794bde | 6 | public: |
Joeatsumi | 2:e6496a794bde | 7 | /********** コンストラクタ デストラクタ **********/ |
Joeatsumi | 2:e6496a794bde | 8 | Matrix(int row, int col); |
Joeatsumi | 2:e6496a794bde | 9 | Matrix(int row, int col, float* comps); |
Joeatsumi | 2:e6496a794bde | 10 | ~Matrix(); |
Joeatsumi | 2:e6496a794bde | 11 | Matrix(const Matrix& m); |
Joeatsumi | 2:e6496a794bde | 12 | |
Joeatsumi | 2:e6496a794bde | 13 | /********** メンバ演算子 **********/ |
Joeatsumi | 2:e6496a794bde | 14 | Matrix operator-() const; |
Joeatsumi | 2:e6496a794bde | 15 | Matrix& operator=(const Matrix& m); |
Joeatsumi | 2:e6496a794bde | 16 | Matrix& operator+=(const Matrix& m); |
Joeatsumi | 2:e6496a794bde | 17 | Matrix& operator-=(const Matrix& m); |
Joeatsumi | 2:e6496a794bde | 18 | //Matrix& operator*=(const Matrix& m); |
Joeatsumi | 2:e6496a794bde | 19 | Matrix& operator*=(float c); |
Joeatsumi | 2:e6496a794bde | 20 | Matrix& operator/=(float c); |
Joeatsumi | 2:e6496a794bde | 21 | |
Joeatsumi | 2:e6496a794bde | 22 | /********** その他関数 **********/ |
Joeatsumi | 2:e6496a794bde | 23 | /* |
Joeatsumi | 2:e6496a794bde | 24 | 行列の成分を設定 |
Joeatsumi | 2:e6496a794bde | 25 | 引数:rowNo 行番号 |
Joeatsumi | 2:e6496a794bde | 26 | colNo 列番号 |
Joeatsumi | 2:e6496a794bde | 27 | val 設定値 |
Joeatsumi | 2:e6496a794bde | 28 | */ |
Joeatsumi | 2:e6496a794bde | 29 | void SetComp(int rowNo, int colNo, float val); |
Joeatsumi | 2:e6496a794bde | 30 | |
Joeatsumi | 2:e6496a794bde | 31 | /* |
Joeatsumi | 2:e6496a794bde | 32 | 行列の成分を全て設定。全成分を一度に指定する必要がある。 |
Joeatsumi | 2:e6496a794bde | 33 | 引数:pComps 設定値の入ったfloat配列。 |
Joeatsumi | 2:e6496a794bde | 34 | */ |
Joeatsumi | 2:e6496a794bde | 35 | void SetComps(float* pComps); |
Joeatsumi | 2:e6496a794bde | 36 | /* |
Joeatsumi | 2:e6496a794bde | 37 | 行列式を計算する。行列が正方行列で無い場合にはエラー。 |
Joeatsumi | 2:e6496a794bde | 38 | */ |
Joeatsumi | 2:e6496a794bde | 39 | float Determinant() const; |
Joeatsumi | 2:e6496a794bde | 40 | |
Joeatsumi | 2:e6496a794bde | 41 | /* |
Joeatsumi | 2:e6496a794bde | 42 | 行列式を計算する。行列が正方行列で無い場合にはエラー。 |
Joeatsumi | 2:e6496a794bde | 43 | */ |
Joeatsumi | 2:e6496a794bde | 44 | float det() const; |
Joeatsumi | 2:e6496a794bde | 45 | |
Joeatsumi | 2:e6496a794bde | 46 | /* |
Joeatsumi | 2:e6496a794bde | 47 | 行列をLU分解する |
Joeatsumi | 2:e6496a794bde | 48 | 引数:sign (省略可)置換操作の符号を格納するポインタ |
Joeatsumi | 2:e6496a794bde | 49 | p (省略可)置換行列を格納する行列のポインタ。(分解する行列と同じ列数の正方行列) |
Joeatsumi | 2:e6496a794bde | 50 | 返り値:LU分解後の行列。下三角要素がL、対角・上三角要素がUに対応する。 |
Joeatsumi | 2:e6496a794bde | 51 | */ |
Joeatsumi | 2:e6496a794bde | 52 | Matrix LU_Decompose(int* sign = 0, Matrix * p = 0) const; |
Joeatsumi | 2:e6496a794bde | 53 | |
Joeatsumi | 2:e6496a794bde | 54 | /* |
Joeatsumi | 2:e6496a794bde | 55 | 逆行列を生成する |
Joeatsumi | 2:e6496a794bde | 56 | 返り値で逆行列が存在するか否かを判断 |
Joeatsumi | 2:e6496a794bde | 57 | 引数:逆行列を格納する行列 |
Joeatsumi | 2:e6496a794bde | 58 | 返り値:逆行列が存在するか否か |
Joeatsumi | 2:e6496a794bde | 59 | */ |
Joeatsumi | 2:e6496a794bde | 60 | float Inverse(Matrix& invm) const; |
Joeatsumi | 2:e6496a794bde | 61 | |
Joeatsumi | 2:e6496a794bde | 62 | /* |
Joeatsumi | 2:e6496a794bde | 63 | 転置行列を生成する |
Joeatsumi | 2:e6496a794bde | 64 | 返り値:転置行列 |
Joeatsumi | 2:e6496a794bde | 65 | */ |
Joeatsumi | 2:e6496a794bde | 66 | Matrix Transpose() const; |
Joeatsumi | 2:e6496a794bde | 67 | |
Joeatsumi | 2:e6496a794bde | 68 | /* |
Joeatsumi | 2:e6496a794bde | 69 | 行列の行の入れ替えを行う |
Joeatsumi | 2:e6496a794bde | 70 | 引数:rowNo1 行番号1 |
Joeatsumi | 2:e6496a794bde | 71 | rowNo2 行番号2 |
Joeatsumi | 2:e6496a794bde | 72 | */ |
Joeatsumi | 2:e6496a794bde | 73 | void SwapRow(int rowNo1, int rowNo2); |
Joeatsumi | 2:e6496a794bde | 74 | /* |
Joeatsumi | 2:e6496a794bde | 75 | 行列の列の入れ替えを行う |
Joeatsumi | 2:e6496a794bde | 76 | 引数:colNo1 列番号1 |
Joeatsumi | 2:e6496a794bde | 77 | colNo2 列番号2 |
Joeatsumi | 2:e6496a794bde | 78 | */ |
Joeatsumi | 2:e6496a794bde | 79 | void SwapCol(int colNo1, int colNo2); |
Joeatsumi | 2:e6496a794bde | 80 | |
Joeatsumi | 2:e6496a794bde | 81 | /********** インライン関数 **********/ |
Joeatsumi | 2:e6496a794bde | 82 | inline int GetRow() const { |
Joeatsumi | 2:e6496a794bde | 83 | return row; |
Joeatsumi | 2:e6496a794bde | 84 | } |
Joeatsumi | 2:e6496a794bde | 85 | |
Joeatsumi | 2:e6496a794bde | 86 | inline int GetCol() const { |
Joeatsumi | 2:e6496a794bde | 87 | return col; |
Joeatsumi | 2:e6496a794bde | 88 | } |
Joeatsumi | 2:e6496a794bde | 89 | |
Joeatsumi | 2:e6496a794bde | 90 | inline const float* GetpComponents() const { |
Joeatsumi | 2:e6496a794bde | 91 | return (const float*)components; |
Joeatsumi | 2:e6496a794bde | 92 | } |
Joeatsumi | 2:e6496a794bde | 93 | |
Joeatsumi | 2:e6496a794bde | 94 | inline float GetComp(int rowNo, int colNo) const { |
Joeatsumi | 2:e6496a794bde | 95 | if (rowNo > row || colNo > col) error("Index Out of Bounds Error !!"); |
Joeatsumi | 2:e6496a794bde | 96 | return components[(rowNo-1)*col + (colNo-1)]; |
Joeatsumi | 2:e6496a794bde | 97 | } |
Joeatsumi | 2:e6496a794bde | 98 | |
Joeatsumi | 2:e6496a794bde | 99 | private: |
Joeatsumi | 2:e6496a794bde | 100 | int row; |
Joeatsumi | 2:e6496a794bde | 101 | int col; |
Joeatsumi | 2:e6496a794bde | 102 | float* components; |
Joeatsumi | 2:e6496a794bde | 103 | |
Joeatsumi | 2:e6496a794bde | 104 | /* |
Joeatsumi | 2:e6496a794bde | 105 | 行列の成分の中で無視できるほど小さい値を0と置き換える(掃除する) |
Joeatsumi | 2:e6496a794bde | 106 | */ |
Joeatsumi | 2:e6496a794bde | 107 | void CleanUp(); |
Joeatsumi | 2:e6496a794bde | 108 | |
Joeatsumi | 2:e6496a794bde | 109 | }; |
Joeatsumi | 2:e6496a794bde | 110 | |
Joeatsumi | 2:e6496a794bde | 111 | // グローバル演算子 |
Joeatsumi | 2:e6496a794bde | 112 | Matrix operator+(const Matrix& lhm, const Matrix& rhm); |
Joeatsumi | 2:e6496a794bde | 113 | Matrix operator-(const Matrix& lhm, const Matrix& rhm); |
Joeatsumi | 2:e6496a794bde | 114 | Matrix operator*(const Matrix& lhm, const Matrix& rhm); |
Joeatsumi | 2:e6496a794bde | 115 |